Control system for and method of controlling product delivery systems

1. A product delivery system for delivering product from a storage area to a dispensing area, the product delivery system comprising: a product holding device for selective coupling with the product; a robotic arm positioning structure coupled to the product holding device for moving the product holding device; and a control system for controlling the product holding device and the positioning structure; wherein the control system monitors whether the product holding device has coupled to a product and when a product has been released; wherein the control system comprises a closed loop feedback monitoring feature for rotational orientation of the positioning structure to provide precise rotational orientation positioning of the positioning structure; and wherein the control system includes a data log for recording the precise rotational orientation positioning of the positioning structure when a product is unintentionally released.

2. The product delivery system as claimed in claim 1 wherein said product holding device includes a self-contained motor driven rotary vacuum generating assembly, and wherein said product holding device is elongated and compact for precise selective picking up of the product from within a bin in which the product is located.

3. The product delivery system as claimed in claim 2 wherein said control system monitors an electrical current draw of the vacuum generating assembly to determine when the product holding device has coupled to a product and when a product has been released.

4. The product delivery system as claimed in claim 1 wherein the control system increases or decreases the power delivered to a drive system of each of multiple arm segments and/or a motor driven reel of said robotic arm positioning structure in a coordinated manner and in conjunction with monitoring of the rotational motion of each arm segment to reduce vend cycle time and maximize vend success.

5. The product delivery system as claimed in claim 1 wherein the control system utilizes the monitoring of current draw of the product holding device and/or the monitoring of the rotational motion of each of multiple arm segments of the said robotic arm positioning structure to aid in calibrating, programming and/or re-programming the control system.

6. The product delivery system as claimed in claim 5 wherein said programming includes programming of custom product pick up locations.

7. A method of delivering a product from a storage area to a dispensing area comprising: providing a product holding device, the product holding device being elongated and compact for precise selective picking of the product; providing a self-contained motor driven rotary vacuum generator carried by the product holding device; utilizing the product holding device on a robotic arm positioning system to transport the product; and recording in a data log the precise rotational orientation positioning of the positioning structure when a product is unintentionally released.

8. A vending machine for dispensing a product to a consumer, the vending machine having a storage area and a dispensing area, the vending machine comprising: a product holding device for coupling with the product to move the product from the storage area to the dispensing area, the product holding device having a self-contained motor driven rotary vacuum generating assembly attached thereto, and the product holding device being elongated and compact for precise selective picking of the product; a robotic arm positioning structure coupled to the product holding device for moving the product holding device; and a control system that includes a data log for recording the precise rotational orientation positioning of the positioning structure when a product is unintentionally released.

9. A product delivery system for delivering product from a storage area to a dispensing area, the product delivery system comprising: a product holding device for selective coupling with the product; wherein the product holding device includes a vacuum picker head assembly; a robotic arm positioning structure coupled to the product holding device for moving the product holding device; a control system for controlling the product holding device and the positioning structure; and a sensor for retro-reflective energy attached to said product holding device wherein the sensor is operable to detect a height position of the product in the storage area.

10. The product delivery system as claimed in claim 9 wherein said control system moves the product holding device directly above each of multiple pre-programmed bin locations at a predetermined height above such locations and activates said retro-reflective sensor to measure a height of product in each bin.